diff options
Diffstat (limited to 'gr-radar-mono/src/python/radar_mono.py')
| -rw-r--r-- | gr-radar-mono/src/python/radar_mono.py | 154 |
1 files changed, 86 insertions, 68 deletions
diff --git a/gr-radar-mono/src/python/radar_mono.py b/gr-radar-mono/src/python/radar_mono.py index b8be6a8e2..50af17c0a 100644 --- a/gr-radar-mono/src/python/radar_mono.py +++ b/gr-radar-mono/src/python/radar_mono.py @@ -30,10 +30,12 @@ n2s = eng_notation.num_to_str #----------------------------------------------------------------------- FR_RADAR_MODE = usrp.FR_USER_0 # Operational mode bmFR_RADAR_MODE_RESET = 1 << 0 # bit 0: active high reset -#bmFR_RADAR_MODE_LP = 1 << 1 # bit 1: enable digital loopback -#bmFR_RADAR_MODE_DR = 1 << 2 # bit 2: enable on-board deramping -#bmFR_RADAR_MODE_MD = 1 << 3 # bit 3: enable echo metadata -#bmFR_RADAR_MODE_CHIRPS = 3 << 4 # bit 4,5: number of chirp center frequencies +bmFR_RADAR_TXSIDE = 1 << 1 # bit 1: use TX side A or B +#bmFR_RADAR_MODE_LP = 1 << 2 # bit 2: enable digital loopback +#bmFR_RADAR_MODE_DR = 1 << 3 # bit 3: enable on-board deramping +#bmFR_RADAR_MODE_MD = 1 << 4 # bit 4: enable echo metadata +#bmFR_RADAR_MODE_CHIRPS = 3 << 5 # bit 5,6: number of chirp center frequencies +bmFR_RADAR_DEBUG = 1 << 7 # bit 7: enable debugging mode FR_RADAR_TON = usrp.FR_USER_1 # 16-bit transmitter on time in clocks FR_RADAR_TSW = usrp.FR_USER_2 # 16-bit transmitter switch time in clocks @@ -46,28 +48,31 @@ FR_RADAR_FINCR = usrp.FR_USER_7 # 32-bit FTW increment per transmit clock # These are for phase II development #FR_RADAR_FREQ1N = usrp.FR_USER_8 # 24-bit N register for chirp #1 #FR_RADAR_FREQ1R = usrp.FR_USER_9 # 24-bit R register for chirp #1 -#FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit control register for chirp #1 +#FR_RADAR_FREQ1C = usrp.FR_USER_10 # 24-bit C register for chirp #1 #FR_RADAR_FREQ2N = usrp.FR_USER_11 # 24-bit N register for chirp #2 #FR_RADAR_FREQ2R = usrp.FR_USER_12 # 24-bit R register for chirp #2 -#FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit control register for chirp #2 +#FR_RADAR_FREQ2C = usrp.FR_USER_13 # 24-bit C register for chirp #2 #FR_RADAR_FREQ3N = usrp.FR_USER_14 # 24-bit N register for chirp #3 #FR_RADAR_FREQ3R = usrp.FR_USER_15 # 24-bit R register for chirp #3 -#FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit control register for chirp #3 +#FR_RADAR_FREQ3C = usrp.FR_USER_16 # 24-bit C register for chirp #3 #FR_RADAR_FREQ4N = usrp.FR_USER_17 # 24-bit N register for chirp #4 #FR_RADAR_FREQ4R = usrp.FR_USER_18 # 24-bit R register for chirp #4 -#FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit control register for chirp #4 +#FR_RADAR_FREQ4C = usrp.FR_USER_19 # 24-bit C register for chirp #4 #----------------------------------------------------------------------- # Transmitter object. Uses usrp_sink, but only for a handle to the # FPGA registers. #----------------------------------------------------------------------- class radar_tx: - def __init__(self, verbose=False, debug=False): + def __init__(self, subdev_spec=None, verbose=False, debug=False): + self._subdev_spec = subdev_spec self._verbose = verbose self._debug = debug - self._u = usrp.sink_s(fpga_filename='usrp_radar_mono.rbf') - self._subdev_spec = (0,0); # FPGA code only implements side A + + if self._subdev_spec == None: + self._subdev_spec = usrp.pick_tx_subdevice(self._u) + self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) self._subdev.set_lo_offset(0.0) self._ton_ticks = 0 @@ -77,7 +82,7 @@ class radar_tx: if self._verbose: print "Using", self._subdev.name(), "for radar transmitter." - + def set_ton(self, ton): self._ton_ticks = 2*(int(ton*64e6)/2)-1 # Even number, then subtract 1 if self._verbose: @@ -105,8 +110,6 @@ class radar_tx: def set_amplitude(self, ampl): self._amplitude = int(ampl*9946/100.0) # CORDIC gain correction - if self._debug: - print "Writing amplitude register with:", hex(self._amplitude) self._u._write_fpga_reg(FR_RADAR_AMPL, self._amplitude) def set_freq(self, center_freq, chirp_width): @@ -132,41 +135,61 @@ class radar_tx: def stop(self): self._subdev.set_enable(False) self._u.stop() + + def subdev_spec(self): + return self._subdev_spec + + def echo_length(self): + return self._tlook_ticks+1 + + def __del__(self): + del self._subdev # Avoid weak reference error #----------------------------------------------------------------------- # Receiver object. Uses usrp_source_c to receive echo records. -# NOT IMPLEMENTED YET #----------------------------------------------------------------------- -""" -class radar_rx: - def __init__(self,gain=None,msgq=None,loopback=False,verbose=False,debug=False): +class radar_rx(): + def __init__(self, gain=None, subdev_spec=None, msgq=None, length=None, + verbose=False, debug=False): self._gain = gain + self._subdev_spec = subdev_spec self._msgq = msgq - self._loopback = loopback + self._length = length self._verbose = verbose - self._debug = debug - + self._debug = debug + self._length_set = False + self._fg = gr.flow_graph() - self._u = usrp.source_c(fpga_filename='usrp_radar.rbf') - if not self._loopback: - self._subdev_spec = (0,0) # FPGA only implements side A - self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec)) - self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) - if self._verbose: - print "Using", self._subdev.name(), "for radar receiver." + self._u = usrp.source_c(fpga_filename='usrp_radar_mono.rbf') + if self._subdev_spec == None: + self._subdev_spec = usrp.pick_rx_subdevice(self._u) + self._u.set_mux(usrp.determine_rx_mux_value(self._u, self._subdev_spec)) - self.set_gain(self._gain) + if self._debug: + self._usrp_sink = gr.file_sink(gr.sizeof_gr_complex, "usrp.dat") + self._fg.connect(self._u, self._usrp_sink) + + self._subdev = usrp.selected_subdev(self._u, self._subdev_spec) + self.set_gain(gain) - # need to compute length here + if self._verbose: + print "Using", self._subdev.name(), "for radar receiver." + print "Setting receiver gain to", self._gain + def set_echo_length(self, length): + # Only call once + if self._length_set is True: + raise RuntimeError("Can only set echo length once.") + self._length = length self._vblen = gr.sizeof_gr_complex*self._length - if self._debug: - print "Generating echo vectors of length", self._length, "byte length", self._vblen - - self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) + self._s2v = gr.stream_to_vector(gr.sizeof_gr_complex, self._length) self._sink = gr.message_sink(self._vblen, self._msgq, True) self._fg.connect(self._u, self._s2v, self._sink) - + self._length_set = True + if self._verbose: + print "Receiving echo vectors of length", self._length, \ + "(samples)", self._vblen, "(bytes)" + def tune(self, frequency): if self._verbose: print "Setting receiver frequency to", n2s(frequency) @@ -176,74 +199,68 @@ class radar_rx: def set_gain(self, gain): self._gain = gain - if self._loopback: - return - - if self._gain is None: + if self._gain == None: # if no gain was specified, use the mid-point in dB g = self._subdev.gain_range() self._gain = float(g[0]+g[1])/2 - if self._verbose: - print "Setting receiver gain to", gain self._subdev.set_gain(self._gain) def start(self): - if self._debug: + if self._verbose: print "Starting receiver flow graph." self._fg.start() def wait(self): - if self._debug: + if self._verbose: print "Waiting for threads..." self._fg.wait() def stop(self): - if self._debug: + if self._verbose: print "Stopping receiver flow graph." self._fg.stop() self.wait() - if self._debug: + if self._verbose: print "Receiver flow graph stopped." -""" class radar: - def __init__(self,msgq=None,verbose=False,debug=False): + def __init__(self, msgq=None, tx_subdev_spec=None, rx_subdev_spec=None, + gain=None, verbose=False, debug=False): self._msgq = msgq self._verbose = verbose self._debug = debug self._mode = 0 - self._trans = radar_tx(verbose=self._verbose, debug=self._debug) + self._trans = radar_tx(subdev_spec=tx_subdev_spec, verbose=self._verbose, debug=self._debug) + self._rcvr = radar_rx(gain=gain, msgq=self._msgq, subdev_spec=rx_subdev_spec, + verbose=self._verbose, debug=self._debug) self.set_reset(True) - + self.set_tx_board(self._trans.subdev_spec()) + self.set_debug(self._debug) + def _write_mode(self): - if self._debug: - print "Writing mode register with:", hex(self._mode) self._trans._u._write_fpga_reg(FR_RADAR_MODE, self._mode) def set_reset(self, value): if value: - if self._debug: - print "Asserting reset." self._mode |= bmFR_RADAR_MODE_RESET else: - if self._debug: - print "De-asserting reset." self._mode &= ~bmFR_RADAR_MODE_RESET self._write_mode() - """ - def set_loopback(self, value): + def set_tx_board(self, tx_subdev_spec): + if tx_subdev_spec[0] == 1: + self._mode |= bmFR_RADAR_TXSIDE + else: + self._mode &= ~bmFR_RADAR_TXSIDE + self._write_mode() + + def set_debug(self, value): if value: - if self._verbose: - print "Enabling digital loopback." - self._mode |= bmFR_RADAR_MODE_LP + self._mode |= bmFR_RADAR_DEBUG else: - if self._verbose: - print "Disabling digital loopback." - self._mode &= ~bmFR_RADAR_MODE_LP + self._mode &= ~bmFR_RADAR_DEBUG self._write_mode() - """ def set_ton(self, ton): self._trans.set_ton(ton) @@ -253,6 +270,7 @@ class radar: def set_tlook(self, tlook): self._trans.set_tlook(tlook) + self._rcvr.set_echo_length(self._trans.echo_length()) def set_prf(self, prf): self._trans.set_prf(prf) @@ -265,12 +283,12 @@ class radar: # set receiver center frequency def start(self): - self._trans.start() self.set_reset(False) + self._trans.start() + self._rcvr.start() def stop(self): - self.set_reset(True) self._trans.stop() + self._rcvr.stop() + self.set_reset(True) - def __del__(self): - self.stop() |